function F1=one(sol,model)
    n = model.n;
    H = model.H;
 % 输入
    sol = Transforms(sol,model);
    
    x=sol(1,1:model.n);
    y=sol(1,model.n+1:2*model.n);
    z=sol(1,2*model.n+1:end);

    % 起点
    xs=model.start(1);
    ys=model.start(2);
    zs=model.start(3);
    
    % 终点
    xf=model.end(1);
    yf=model.end(2);
    zf=model.end(3);
    
    x_all = [xs x xf];
    y_all = [ys y yf];
    z_all = [zs z zf];
    
    N = size(x_all,2); % 路径长度
    
    % 海平面高度 = z_relative + ground_level
    z_abs = zeros(1,N);
    for i = 1:N
        z_abs(i) = z_all(i) + H(ceil(y_all(i)),ceil(x_all(i)));
    end
    
    %============================================
    % F1 - 路径长度代价 
    F1 = 0;
    for i = 1:N-1
        diff = [x_all(i+1) - x_all(i);y_all(i+1) - y_all(i);z_abs(i+1) - z_abs(i)];
        F1 = F1 + norm(diff);
    end
end